#启动mavros
ros2 run mavros mavros_node  --remap __ns:=/drone_0 --ros-args -p fcu_url:=serial:///dev/ttyTHS0:115200

#nx连接飞控串口
ros2 run mavros mavros_node  --remap __ns:=/drone_0 --ros-args -p fcu_url:=serial:///dev/ttyTHS0:115200 -p gcs_url:=udp://@192.168.16.191:14550


ros2 run mavros mavros_node  --remap __ns:=/drone_0 --ros-args -p fcu_url:=udp://:14550@192.168.16.51:4151 -p tgt_system:=1 -p gcs_url:=udp://@192.168.16.250:14550

#启动无人机1mavros
ros2 run mavros mavros_node  --remap __ns:=/drone_0 --ros-args -p fcu_url:=udp://:14550@192.168.16.52:4152 -p tgt_system:=2 -p gcs_url:=udp://@192.168.16.250:14550

#启动无人机2mavros
ros2 run mavros mavros_node  --remap __ns:=/drone_0 --ros-args -p fcu_url:=udp://:14550@192.168.16.53:4153 -p tgt_system:=3 -p gcs_url:=udp://@192.168.16.250:14550


#启动相机
ros2 launch /opt/ros/foxy/share/usb_cam/launch/demo_launch.py 

#启动通信节点（需要等待地面站启动命令）
ros2 launch uav_swarms communication_multirotor_node0_launch.py

#启动二维码
ros2 launch aruco_ros single.launch.py

#降落
ros2 launch ar_track_landing ar_track_landing_launch.py


#-----------------------------------追踪--------------------------------------------
#目标检测（需要等待地面站启动命令）
ros2 launch yolo_detect_pkg yolo_detect_launch.py

#
ros2 launch uav_swarms avoid_node_launch.py

#启动getlocalpos_node
ros2 run uav_swarms getlocalpos_node    

#启动追踪节点
ros2 launch targer_tracker target_tracker_launch.py

#----------------------------------编队----------------------------------------------
#启动无人机2的通信节点
ros2 launch uav_swarms communication_multirotor_node0_launch.py

ros2 run swarm_avoid_client node1

ros2 run swarm_avoid_client node2





ros2 topic pub -r 10  /uav_swarms/drone_0/move yolo_detect_message/msg/MoveInterface "{is_vel: true,
is_body: true,
is_gps: false,
fixed_high_mode: true,
vel: {linear: {x: 7.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0}},
pose: {position: {x: 0.0, y: 0.0, z: 80.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}},
geo_pose: {latitude: 0.0, longtitude: 0.0, altitude: 0.0}}"